Particle Swarm Optimization Algorithms for Autonomous Robots with Leaders Using Hilbert Curves

The approaches in this work combine the swarm behavior principles of Craig W. Reynolds with space filling curves movements. We intend to evaluate how the entire swarm moves by including a deterministic leader behavior for some agents. Therefore, we examine different combinations of Hilbert Curves with the classical swarm algorithms. We introduce a practical problem, the collection of manganese nodules on the sea ground by using autonomous agents. Some relevant experiments, combining different parameters for the leaders were run and the results are evaluated and described. Finally, we propose further developments and ideas to continue this research.